TY - JOUR
T1 - Design and implementation of a sliding-mode disturbance observer for robotic manipulators with unbalanced rotating payloads
AU - Lu, Yu Sheng
AU - Chen, Ching Tung
AU - Chiu, Chien Wei
N1 - Funding Information:
This work was supported in part by the Ministry of Science and Technology under Grants No. MOST 110-2221-E-003-018.
Publisher Copyright:
© 2021, The Author(s), under exclusive licence to The Brazilian Society of Mechanical Sciences and Engineering.
PY - 2022/1
Y1 - 2022/1
N2 - Robotic manipulators with unbalanced payloads rotating at nearly constant speeds can often be found in automated manufacturing tasks, such as drilling, grinding and deburring. In this paper, a sliding-mode disturbance observer (SMDOB) is designed for such systems that are subject to unknown periodic disturbances due to unbalanced rotating payloads. Stability of the closed-loop system, in which the SMDOB is in combination with a nominal controller, is addressed. Besides, this paper presents an adaptation algorithm for automatic switching-gain adjustments. To alleviate chatter, this algorithm is able to decrease switching gains according to practical operating conditions of robotic manipulators. An experimental study on a two-link direct-drive robotic manipulator was conducted. The experimental results are reported in this paper with a comparative study, realistically showing the efficacy of the proposed system.
AB - Robotic manipulators with unbalanced payloads rotating at nearly constant speeds can often be found in automated manufacturing tasks, such as drilling, grinding and deburring. In this paper, a sliding-mode disturbance observer (SMDOB) is designed for such systems that are subject to unknown periodic disturbances due to unbalanced rotating payloads. Stability of the closed-loop system, in which the SMDOB is in combination with a nominal controller, is addressed. Besides, this paper presents an adaptation algorithm for automatic switching-gain adjustments. To alleviate chatter, this algorithm is able to decrease switching gains according to practical operating conditions of robotic manipulators. An experimental study on a two-link direct-drive robotic manipulator was conducted. The experimental results are reported in this paper with a comparative study, realistically showing the efficacy of the proposed system.
KW - Disturbance observer
KW - Gain adaptation
KW - Periodic disturbance
KW - Robotic manipulator
KW - Sliding mode
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U2 - 10.1007/s40430-021-03342-5
DO - 10.1007/s40430-021-03342-5
M3 - Article
AN - SCOPUS:85122066922
SN - 1678-5878
VL - 44
JO - Journal of the Brazilian Society of Mechanical Sciences and Engineering
JF - Journal of the Brazilian Society of Mechanical Sciences and Engineering
IS - 1
M1 - 34
ER -